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887 Commits

Author SHA1 Message Date
Peter Barker 281296832a autotest: retry GyroFFTHarmonic test on failure 2021-01-21 16:45:34 +11:00
Andrew Tridgell 3e640eed80 autotest: changes for per-IMU biases and scaling 2021-01-21 13:09:21 +11:00
Peter Barker c7a6047904 autotest: add option to retry tests / create and use Test definition object 2021-01-21 10:23:17 +11:00
Andrew Tridgell c396d15890 Revert "autotest: ensure defaults files don't set already-default-values" 
This reverts commit 3d431cd4f1.

It breaks MissionPlanner SITL. We can re-apply once MissionPlanner
copes with external_model.
 2021-01-20 08:54:43 +11:00
Peter Barker 1cb86303b4 Tools: add test for maxbotixi2cxl 2021-01-19 11:20:47 +11:00
Peter Barker 3d431cd4f1 autotest: ensure defaults files don't set already-default-values 
autotest: mark some vehicles as having external physics models

autotest: add default_params_filename to some vehicle info
 2021-01-19 10:34:00 +11:00
Peter Barker 8f9d3909f1 autotest: model_defaults_filepath always returns a list 2021-01-19 10:34:00 +11:00
Peter Barker 2c0e3751a9 autotest: reboot after moving from EKF type 10 to EKF type 2 
Bad things happen with home set but origin not
 2021-01-18 20:48:11 +11:00
Peter Barker 662e86780b autotest: reduce motor vibration for landing 2021-01-18 20:14:08 +11:00
Peter Barker 2d62fb99b1 autotest: force-disarm copter before reboot in GCS failsafe tests 2021-01-18 14:17:32 +11:00
Randy Mackay b18e5966f7 Tools: fixes from peer review as AHRS default changed to EKF3 2021-01-16 08:24:23 +09:00
Randy Mackay 2f51b59de4 Tools: copter test parameter validation waits 10sec before starting 
This allows the GPS driver to initialise which avoids an EKF3 source requires GPS failure
 2021-01-16 08:24:23 +09:00
Randy Mackay bb926a2976 Tools: autotest fly_gyro_fft disables EKF2 and EKF3 
fly_gyro_fft_harmonic also disables EKF2 and EKF3
 2021-01-16 08:24:23 +09:00
Randy Mackay f9e7d59756 Tools: Copter.ArmFeatures fixups for EKF3 
changed to disable the simulated GPS instead of disabling the driver
expected EKF flags are slightly different
 2021-01-16 08:24:23 +09:00
Randy Mackay 9c56b406be Tools: Copter.AltEstimation fixes 
disable baro so EKF has no altitude estimate
add check that mode change to ALT_HOLD failed
 2021-01-16 08:24:23 +09:00
Randy Mackay f68f26e75d Tools: Copter.VisionPosition config for EKF3 2021-01-16 08:24:23 +09:00
Randy Mackay d2bdc949b2 Tools: Copter.OpticalFlowLimits checks altitude 2021-01-16 08:24:23 +09:00
Randy Mackay 0ba696f761 Tools: Copter.OpticalFlowLimits config for EKF2/3 2021-01-16 08:24:23 +09:00
Randy Mackay d00194c60a Tools: copter test_rangefinder_switchover config for EKF2/3 2021-01-16 08:24:23 +09:00
Peter Barker cd8a393ac2 autotest: create own RC thread to handle setting of RC overrides 
autotest: prevent method-on-undef problem in case of early test failure

autotest: plumb MAVProxy rc input back in for switch test

autotest: close off rc thread in case of timeout
 2021-01-15 20:56:30 +11:00
Peter Barker 1dad0ecb46 autotest: disarm vehicle in case vibration test excepts 2021-01-13 19:46:13 +11:00
Peter Barker 47aea5f44c autotest: print stack traces for caught exceptions 2021-01-13 19:46:13 +11:00
Peter Barker e85e6d3375 autotest: use new set_parameters in place of many set_parameter calls 
autotest: use set_parameters for applying from parameter file

autotest: use set_parameters in place of many set_parameter calls
 2021-01-13 15:09:29 +11:00
Peter Barker 8497f8fc73 autotest: correct some timeout issues around Copter takeoff 2021-01-13 12:24:17 +11:00
Peter Barker 0a39c49711 autotest: gpstovicon: reboot after setting new EKF type rather than before 2021-01-13 12:24:17 +11:00
Peter Barker 252b166099 autotest: reboot after Copter gyrofft test 
Really weird things happen if you switch from EKF2 to EKF10 - like your
home position being set but your origin not!
 2021-01-13 12:24:17 +11:00
Peter Barker 987466bc3d autotest: increase timeout on avoidance-corners test 
Race conditions can mean angles are less than expected
 2021-01-13 12:24:17 +11:00
Peter Barker 7474948971 autotest: add test for mavlink rangefinder out-of-range-low 2021-01-06 15:33:41 +11:00
Peter Barker fdd0297f12 autotest: add more tests for MAVLink rangefinder 
Allows for finer-grain control over what messages we're sending.
 2021-01-06 15:33:41 +11:00
Randy Mackay 66b2b988c4 Tools: update gps-vicon switching test params 2021-01-05 10:58:06 +11:00
Peter Barker 8abf9a82f3 autotest: reliability improvements for EKF failover tests 2020-12-31 14:49:25 +11:00
Peter Barker 0788b46374 autotest: add trivial test for Callisto 2020-12-25 12:18:01 +11:00
Pierre Kancir 824b9c1dc9 Autotest: add setpoint_target test for copter 2020-12-24 00:22:52 +11:00
Peter Barker 662814d6bd autotest: reboot after running Copter vibe tests 
The EKF type (at the very least) requires a reboot to revert to its
original value.
 2020-12-22 23:51:54 +11:00
Randy Mackay d964fa2307 Tools: fixup EKF source pre-arm test 
although setting COMPASS_USE/2/3 to zero disables the pre-arm for EK3_SRCx_YAW = 1 (Compass) the pre-arm still triggers if EK3_SRCx_YAW = 3 (External Compass Fallback)
 2020-12-21 16:56:38 +09:00
Randy Mackay 50f9eee54c Tools: relax fly_guided_stop climb rate tolerance to 1cm/s 2020-12-18 08:32:21 +09:00
Paul Riseborough 4cf78c34e7 Tools: Add autotest for copter wind estimation and baro correction 2020-12-11 15:21:41 +11:00
Paul Riseborough a3b5901218 autotest: Fix failing copter fly_square test 
This test should be flown in ALT_HOLD, not  STABILIZE as that is better mode to test the record waypoint function becasue it removes the need to fine tune the RC3 value to match thrust/weight variation as the hover thrust is not learned fast enough at the start of the test.
 2020-12-11 15:21:41 +11:00
Randy Mackay 9803a70d3f Tools: copter autotest spelling and format fixes 2020-12-09 19:30:48 +09:00
Randy Mackay 665e6ccdcb Tools: copter GCS fs tests explicitly set FS_GCS_ENABLE and FS_OPTIONS 2020-12-09 19:30:48 +09:00
Peter Barker 0406b28abd autotest: print exception if caught in test_alt_estimate_prearm 2020-12-09 18:06:18 +11:00
Peter Barker 768e3e7931 autotest: adjust Vicon test for new PREARM-checking code 
The new check that the prearms-passing bit from the autopilot
indicated prearms have passed was failing here because the yaw isn't
alighed until we frob channel 7.

The intent of the prearm seems ot have been to ensure we can get a
global position - that can be accomplished by polling the home position.
 2020-12-07 11:21:30 +11:00
Peter Barker be52e642f7 autotest: adjust Replay gps bit to make final logfile replayable 2020-12-03 17:28:26 +11:00
Peter Barker 211cd5255d autotest: tweak beacon test to be replay-friendly 2020-11-30 18:50:24 +11:00
Peter Barker 498b0b79a3 autotest: Replay tests OpticalFlow and Beacons 
autotest: run Replay on log generated by test.Copter.BeaconPosition

autotest: test OpticalFlow in replay tests
 2020-11-30 18:50:24 +11:00
Peter Barker 9e20f4a68d autotest: add a test for compass yaw sources 2020-11-25 15:19:00 +11:00
Peter Barker b788a172c8 autotest: add simple test for IE24 generator 
Tools: Modified richenpower autotest setup

autotest: IE24: Add error code failsafe test
 2020-11-24 12:54:52 +11:00
Peter Barker 935d39322c autotest: correct test for mode-change-reason change 2020-11-24 10:09:37 +11:00
Randy Mackay f257dc20d0 Tools: add test.Copter.GPSViconSwitching to CopterTests1d 2020-11-20 16:43:44 +09:00
Randy Mackay b6fe039a9f Tools: autotest for beacon sets EK3_SRC params 2020-11-20 16:43:44 +09:00
Peter Barker 58bdae1b52 autotest: get Valgrind closer-to-working 
This gets us past the reboot problem for the most part, where Valgrind doesn't like you exec'ing
 2020-11-11 18:22:58 +11:00
Andrew Tridgell 00cfc1932f autotest: fixed arm delay in replay test 
thanks to Peter
 2020-11-10 16:15:45 +11:00
Andrew Tridgell 5f669e22ff autotest: adjust optical flow speed test 2020-11-10 16:15:45 +11:00
Andrew Tridgell 1a1ca7cca7 autotest: fly a bit higher in optical flow test 
test was occasionally hitting the ground
 2020-11-10 16:15:45 +11:00
Andrew Tridgell 690af580c9 autotest: abstract out load_local_module() 
this will be useful for other tests
 2020-11-10 16:15:45 +11:00
Andrew Tridgell f674d124d6 autotest: use SITL replay 2020-11-10 16:15:45 +11:00
Andrew Tridgell 7b50780c5e autotest: fixed rmtree error in autotest 2020-11-10 16:15:45 +11:00
Andrew Tridgell a37cae5dae autotest: added test.Copter.Replay test 2020-11-10 16:15:45 +11:00
Andrew Tridgell 3dff0b3d58 autotest: removed dcm yaw test 
this should not be part of replay PR
 2020-11-10 16:15:45 +11:00
Andrew Tridgell 3ae237b652 autotest: started work on replay testing 2020-11-10 16:15:45 +11:00
bugobliterator c72c96fa9c Tools: setup CI test for CANBus 2020-11-04 19:59:40 +11:00
Andrew Tridgell 3e3da61396 Tools: fixes from review feedback 2020-10-28 14:20:44 +11:00
Andrew Tridgell 47bf3e2249 Tools: use max_err for alt wait in flip test 2020-10-28 14:20:44 +11:00
Andrew Tridgell 72d0730194 Tools: fixed flow speed test to be much more robust 
takeoff in ALT_HOLD so we don't overshoot as much, and calculate speed
limit based on actual alt
 2020-10-28 14:20:44 +11:00
Andrew Tridgell da86dc8814 Tools: fixed FFT test thresholds for new tune 2020-10-28 14:20:44 +11:00
Andrew Tridgell a95c2e9db3 Tools: fixed optical flow speed limit 
should be 10m/s, as per comment
 2020-10-28 14:20:44 +11:00
Andrew Tridgell 86c558e735 Tools: fixed fast climb in SuperSimpleCircle test 
1700 makes us climb much too far
 2020-10-28 14:20:44 +11:00
Andrew Tridgell ca6da722a9 Tools: adjust StabilityPatch test 
fixed to account for use of propeller expo in model
 2020-10-28 14:20:44 +11:00
Andrew Tridgell 98dacd5ee4 Tools: fixed wait_for_alt 
should be a min alt. This is needed for Flip test to pass with new
model, as it doesn't lose as much height as the old model. So it
starts above the min alt
 2020-10-28 14:20:44 +11:00
Buzz 586e9f80d5 AutoTest: break copter autotests into smaller "under 10 minute" chunks to speedup github actions CI 2020-10-21 18:01:47 +11:00
Peter Barker 49fd762f26 autotest: fix and re-enable button test 
A recent commit to fix the setting-of-pullup-resistors in SITL makes it
possible to re-enable this.

Closes #15259
 2020-10-15 08:34:08 +11:00
Peter Barker d865c8553c autotest: loosen takeoff check in heli takeoff to 1m 
On the basis that random noise can make it drift 10cm
 2020-10-14 12:49:23 +11:00
Peter Barker f9324d38c9 autotest: loosen groundspeed tolerance in guided-stop function 
Fixes current "Vehicle did not stop" problem
 2020-10-09 12:05:23 +11:00
Peter Barker b630aeeddf autotest: comment suspicious-looking latitude/longitude parameters 2020-10-08 17:23:09 +09:00
Peter Barker 750f1d4032 autotest: send position targets once 2020-10-08 17:22:29 +09:00
Peter Barker 1d0735f206 autotest: add a poll_message method 2020-10-07 11:54:02 +11:00
Peter Barker 64461dba5e autotest: fix Copter motortest test 
We were swallowing all of the rc output containing the values we were
looking for.

Rearrange so we don't swallow where we were, and increase timeout on the
basis that there's still a narrow race.
 2020-09-23 09:49:54 +10:00
Peter Barker 995cda6363 autotest: stop taking off when we're already in the air 
Depending on timing we can miss the fact we're already at altitude as we
take off in stabilize and manipulate the throttle before checking
altitude
 2020-09-10 10:39:30 +10:00
Peter Barker 51b54d3740 autotest: avoid leaving message hooks around 
Can lead to some very weird and confusing output
 2020-09-09 17:59:17 +10:00
Peter Barker f3866e5f39 autotest: disable button test 2020-09-08 12:31:15 +10:00
Andrew Tridgell 80ef6fa7f2 Tools: added a MagFail test 
ensures that both EK2 and EK3 will failover to a new compass on
compass failure
 2020-09-08 11:01:14 +10:00
Peter Barker d508ba97c5 autotest: add test for SmartRTL getting another GCS failsafe 
Test for specific bug where we would land instead of continue in
SmartRTL
 2020-09-08 09:05:03 +09:00
Andy Piper 6ebc7622fe autotest: comprehensive dataflash test 2020-09-05 10:20:39 +10:00
Peter Barker e8fa4e1351 autotest: disable autotest for altitude prearm check 2020-08-30 08:38:35 +10:00
Peter Barker b7641345e1 autotest: set and get parameters directly using mavlink message 2020-08-30 08:38:35 +10:00
Pierre Kancir 084ec2bb5a Autotest: copter: fix wait_for_alt for descending wait 2020-08-29 14:53:30 +10:00
Pierre Kancir ebd13ac84e Tools: copter: wait_landed_and_disarmed: use wait_for_alt 2020-08-29 14:53:30 +10:00
Pierre Kancir 7fbf11061f Tools: copter: add wait_rtl_complete function 2020-08-29 14:53:30 +10:00
Pierre Kancir 3080899b43 Tools: copter: add wait land and disarm functions 2020-08-29 14:53:30 +10:00
Pierre Kancir 5b72de25e0 Autotest: update wait_distance_to_home 
Autotest: copter: allow to pass min_distance for RTL

Autotest: rover: allow to pass min distance for RTL
 2020-08-29 10:44:19 +10:00
Pierre Kancir 16b499d0f6 Autotest: allow to select which GPS flags we want to wait for 2020-08-27 09:11:13 +10:00
Peter Barker 3ae83d70b1 autotest: ensure df log is present for rangefinder tests 
there may not be a current onboard log present if we've just rebooted
 2020-08-26 11:59:11 +10:00
Peter Barker a523868b33 autotest: fix Beacon test 2020-08-25 17:21:50 +10:00
Randy Mackay 660579f2f4 Tools: fix copter beacon test params 2020-08-25 09:38:10 +09:00
Peter Barker 69d246d63e autotest: add test for priority-based compass reordering 2020-08-25 08:30:04 +10:00
Pierre Kancir f73e4c0071 Autotest: copter: add test for mandatory alt estimation for Alt_hold 2020-08-21 13:35:51 +10:00
Peter Barker f14c9db568 autotest: improve debug around heli poshold takeoff test 2020-08-20 10:10:34 +10:00
Pierre Kancir acc4a1db3f Autotest: remove special case for vicon and default vicon for copter to false 2020-08-17 21:17:26 +10:00
Pierre Kancir fa4a01e8f9 autotest: copter: don't use raw reboot on fly_battery_failsafe() 2020-08-14 09:42:52 +10:00
Pierre Kancir 3c6d1a359a autotest: copter: catch exception on test_battery_failsafe to reset parameters 2020-08-13 12:09:23 +10:00
Pierre Kancir 5fe81706bb autotest: copter: catch exception on test_gcs_failsafe to reset parameters 2020-08-13 12:09:23 +10:00
Pierre Kancir 9c41462bf6 Tools: copter: correct flip test 2020-08-13 10:37:02 +10:00
Peter Barker 9cd5fdacfc Tools: autotest: add a test for motor test 2020-08-10 09:18:05 +10:00
Peter Barker e51427a2bc autotest: add a test to ensure we get voltage from generator in battery_status message 2020-08-07 14:46:20 +10:00
Peter Barker 77df7c7a39 autotest: autotest the MaxBotixI2CXL i2c rangefinder code 2020-08-07 08:52:00 +10:00
Peter Barker 07abb3ab6a autotest: extend RichenPower test 2020-08-05 16:26:19 +09:00
Rishabh bac3660fca Tools: Push autotune switch test to run after avoidance tests 2020-08-05 15:37:04 +09:00
Rishabh cf04a01389 Tools: Increase timeout for avoidance autotest 2020-08-05 15:37:04 +09:00
Peter Barker 39f16c4679 autotest: reboot SITL after running autotune switch test 2020-07-24 20:49:12 +10:00
Andy Piper a00b5cb770 autotest: db's are negative so check dynamic notches the right way 2020-07-18 19:09:33 +10:00
Andy Piper 229036b4ae autotest: run dynamic notch twice to avoid statistical anomolies 
relax notch tests attenuation levels
 2020-07-16 13:18:32 +10:00
Peter Barker 2c1d77bf8f autotest: test simulated ship takeoff 2020-07-10 13:28:38 +10:00
Peter Barker 6eb1d289b8 autotest: add trivial test for CRSF in copter 2020-07-07 18:48:06 +10:00
Peter Barker 977ec1a7d6 autotest: SuperSimpleCircle: increase throttle while rolling in stab 
We're hitting the ground...
 2020-07-04 17:18:37 +10:00
Peter Barker b8c2b16394 autotest: autotest gyus42v2 rangefinder 2020-07-04 13:40:10 +10:00
Peter Barker 560b4a9847 autotest: fix race condition between switch message and rc output 2020-07-03 22:06:48 +10:00
Peter Barker 96e500fe49 autotest: correct heli rebase issue 2020-07-03 12:07:06 +10:00
Peter Barker 717dabfe69 autotest: remove heat model for generator 2020-07-03 08:21:42 +09:00
Peter Barker bac60e0d3a autotest: add simple tests for richenpower generator 2020-07-03 08:21:42 +09:00
bnsgeyer 1191a5e1ea Tools: Tradheli add rotor_runup_complete_checks 2020-07-02 21:49:40 +10:00
Peter Barker 332c73d168 autotest: reboot before running Copter ModeCircle test 
This shouldn't be required, but CI is falling over too much.
 2020-07-02 18:40:11 +10:00
Peter Barker de226c69ab Tools: add simulated LightWare serial lidar talking new binary protocol 2020-07-02 10:50:59 +10:00
Andy Piper 4147f0cce3 autotest: test gains are saved by autotune 2020-06-30 20:09:48 +10:00
Peter Barker 7da5f7c9b5 autotest: disable Spline waypoint test 
The bug being exposed is causing too much noise in CI.
 2020-06-26 18:05:41 +09:00
Andy Piper b4efb78315 autotest: rangefinder transition test 2020-06-24 21:16:50 +09:00
Andy Piper c6415136ed autotest: add a test for dynamic harmonics 2020-06-21 19:09:35 +10:00
Peter Barker ba5e4b8e37 autotest: python3 fix for fly_guided_move_to 2020-06-15 12:54:25 +10:00
Andrew Tridgell 7390846851 autotest: we need more than 1500 throttle for SimpleMode test 
we are in stabilize and flying around, needs more than half throttle
to maintain height. This test was already marginal, but addition of
pressure alt in SITL pushed it over the edge
 2020-06-05 11:35:53 +10:00
bugobliterator 2c3bd61eb4 autotest: remove older compass calibration test 2020-06-05 09:38:40 +10:00
Pierre Kancir bd53796ed4 Tools: copter: add compass calibration testing 2020-06-05 09:38:40 +10:00
Peter Barker 6c67ddacf4 autotest: rename set_heartbeat_interval to set_heartbeat_rate 2020-06-04 01:11:28 +10:00
Christian Clauss b07fb05dde autotest: Use ==/!= to compare constant literals (str, bytes, int, float, tuple) 
Avoid SyntaxWarnings on Python >= 3.8

% `python3.8`
```
>>> "second" is "second"
<stdin>:1: SyntaxWarning: "is" with a literal. Did you mean "=="?
```
`flake8 . --count --select=E9,F63,F7,F82 --show-source --statistics`
```
./Tools/autotest/arducopter.py:3899:20: F632 use ==/!= to compare constant literals (str, bytes, int, float, tuple)
                if loop is not "second":
                   ^
./Tools/autotest/arducopter.py:4047:20: F632 use ==/!= to compare constant literals (str, bytes, int, float, tuple)
                if loop is not "second":
                   ^
2     F632 use ==/!= to compare constant literals (str, bytes, int, float, tuple)
2
```
 2020-06-02 16:25:15 +10:00
Peter Barker adeb37581f autotest: fix heli for setpoint change 2020-05-29 14:53:12 +10:00
Peter Barker aaef44858f autotest: add test for Heli stabilize-mode takeoff 2020-05-29 14:25:30 +10:00
Peter Barker b0916231b2 autotest: add tests for log download 2020-05-26 19:32:49 +10:00
Andy Piper 1358e39ffd autotest: test 256 FT windows and fix calculation of log-based FFT 
fix quadplane FFT reference calculation
re-enable harmonic test
use median for measuring in-flight FFT average as it's much more reliable
relax quadplane filter restriction
harmonic switching test
tighten frequency check and loop twice to avoid heisenbugs
 2020-05-24 07:43:34 +10:00
Peter Barker c0fae0b1fb autotest: disable GyroFFT test; underlying issue being actively worked on 2020-05-15 16:02:41 +10:00
Andy Piper 8f864f02fb autotest: 256 windows don't currently work 2020-05-06 10:14:30 +10:00
Andy Piper db4a612c13 autotest: test 256 FT windows and fix calculation of log-based FFT 
fix quadplane FFT reference calculation
re-enable harmonic test
use median for measuring in-flight FFT average as it's much more reliable
relax quadplane filter restriction
 2020-05-06 10:14:30 +10:00
Peter Barker 1c7354c321 autotest: improve mount debug 2020-05-05 20:51:23 +10:00
Andy Piper dd987c9a19 autotest: new harmonic notch test 2020-04-28 09:32:02 +10:00
Peter Barker 39032459d1 autotest: add explicit test for mavlink rangefinder 2020-04-21 20:44:59 +10:00
Randy Mackay f78d8b009a Tools: enable visual odometry for fly_vision_position test 2020-04-09 19:41:08 +09:00
Pierre Kancir 24a2bc3b0e Tools: update path for copter test missions files 2020-04-09 09:01:03 +10:00
Peter Barker cbe1dba781 autotest: loosen slowdown constraint on zigzag test 2020-04-02 09:39:27 +11:00
Peter Barker f450df18b0 autotest: allow more time to loiter to ne in precision test 2020-04-01 21:51:22 +11:00
Pierre Kancir aec5ae91fa Tools: adjust zigzag timing to pass test 2020-03-27 22:13:52 +11:00
Pierre Kancir 3f441e61cd Tools: copter : make zigzag more verbose 2020-03-27 22:13:52 +11:00
Pierre Kancir aba594fe2d Tools: copter: update exception for rangefinder test 2020-03-27 22:13:52 +11:00
Pierre Kancir 1689714a5c Tools: copter: add more verbose on fly_guided_change_submode 2020-03-27 22:13:52 +11:00
Pierre Kancir e4eebce5a6 Tools: update arducopter.py to use new wait functions 2020-03-27 22:13:52 +11:00
Peter Barker 92d2186b95 autotest: don't use self.mav.motors_disarmed_wait as it blocks forever 2020-03-17 16:31:29 +11:00
Andy Piper 718a6593e6 autotest: disable harmonic FFT test 2020-03-13 21:10:56 +11:00
Andy Piper 7c1757bab4 autotest: separate out harmonic matching test 
be more forgiving about harmonic fit detection due to imperfect simulation
use the fft length to determine how accurate the frequency match should be
 2020-03-13 21:10:56 +11:00
Andy Piper de55e4dcc2 autotest: disable harmonic matching test 2020-03-07 20:44:52 +11:00
Andy Piper eb0923a018 autotest: separate out harmonic matching test 2020-03-07 20:44:52 +11:00
Peter Barker 3fac5ad52c autotest: loosen gyro fft test to avoid spurious CI failures 2020-03-01 20:51:26 +11:00
Peter Barker cb8d623624 autotest: add test for fixed yaw calibration 2020-02-29 16:25:30 +11:00
Andy Piper ee18db36fa autotest: be more lenient on frequency with harmonic matching test 2020-02-25 08:35:09 +11:00
Peter Barker b3bfc0bd32 autotest: add instant-disarm radio failsafe test 2020-02-24 12:25:42 +11:00
Peter Barker 82f53abee2 autotest: restore fly.ArduCopter as running all tests 
the test list for ArduCopter is made up of those from tests1 and tests2
 2020-02-22 16:51:39 +11:00
Andy Piper 05a0fe615b Tools: split Copter tests into two runs to balance time on travis 2020-02-22 11:15:37 +11:00
Andy Piper ba67ad39a0 Tools: quadplane test 2020-02-22 11:15:37 +11:00
Andy Piper 88f0c26636 Tools: add CMSIS DSP module to waf for M4 ChibiOS and control inclusion of FFT based on HAL_WITH_DSP and GYROFFT_ENABLED. target appropriate ARM cpus 
sophisticated autotest for Gyro FFT
 2020-02-22 11:15:37 +11:00
Pierre Kancir e1d8148cc0 autotest: Python correctness fixes 
Tools: common: correct copy shadowing in set_rc_from_map

Tools: common: comment out unused code

Tools: common: remove iteritem usage for py3

Tools: common: remove duplicate key in FRSkySPort id description for GPS

Tools: rover: correct type shadowing

Tools: rover: make expected_distance_epsilon float

Tools: rover: comment out unused code

Tools: rover: correct variable shadowing on my_message_hook

Tools: copter: correct variable shadowing

Tools: common: use Bool for port.setblocking

Tools: common: fix variable shadowing
 2020-02-22 10:37:29 +11:00
Peter Barker fa33719da6 autotest: improve distance-from-home debug 2020-02-14 16:36:12 +11:00
Peter Barker fd8088f1e5 autotest: add Copter tests for altitude change on arm 2020-02-08 11:06:03 +11:00
Peter Barker 0ea4e150db autotest: add test for gimbal range issue 2020-01-31 14:20:07 +11:00
Peter Barker a9e288a335 autotest: improve clarity by breaking apart calculations for mount pitch 2020-01-31 14:20:07 +11:00
Peter Barker 346471258b autotest: add test for mot_pwm validation 2020-01-30 14:49:16 +09:00
Peter Barker 0c85200b18 autotest: test diagonals and off-diagonals are set by magcal test 2020-01-25 11:32:27 +11:00
Peter Barker 91b01a3eb2 autotest: fix integer vs float issues for Python3 2020-01-18 12:52:31 +11:00
Peter Barker 61d5a94c45 autotest: add test for autorotation 
It actually hits harder with autorotate enabled with this setup...
 2020-01-01 22:10:43 +11:00
Andy Piper 0be0e93534 Tools: use pre-filtered values in motor vibration test and use more realistic values for noise 2019-12-31 10:34:02 +11:00
Peter Barker 3ffdfc7302 autotest: correct parachute test 2019-12-24 15:27:39 +11:00
Andrew Tridgell 6d981ce733 autotest: disable MotorVibration test 2019-12-18 21:08:19 +11:00
Randy Mackay 21ea7902cf Tools: copter tests replace TERRAIN_FOLLOW with RTL_ALT_TYPE 2019-12-17 20:02:01 +09:00
Andy Piper 39e948a40a Tools: add motor vibration test and support for post-test fft 
perform FFT analysis on vibration output
 2019-12-17 10:07:06 +11:00
Peter Barker 5b45931728 autotest: test buttons on Plane and Copter as well as Rover 2019-12-10 09:29:52 +09:00
Peter Barker fecca9a559 autotest: add tests for serial RangeFinder drivers 2019-12-03 09:07:09 +11:00
Peter Barker 29fda1681b Tools: add test for mount targetting 2019-11-12 07:52:22 +08:00
Peter Barker 48657dd2c9 autotest: replace setHeartbeat(bool) with setHeartbeat(float) 
We don't do heartbeats at 1Hz - we do them at the speedup rate.
 2019-11-08 19:49:46 +11:00
Peter Barker ece59f8233 autotest: replace wait_seconds with delay_sim_time 
These did exactly the same thing
 2019-11-08 19:49:46 +11:00
Peter Barker 2dd47e54e7 autotest: remove default True parameter to setHeartbeat 2019-11-08 19:49:46 +11:00
Peter Barker 74eb6760ea autotest: correct setHeatbeat -> setHeartbeat 2019-11-08 19:49:46 +11:00
Peter Barker 9605639070 autotest: loosen check on follow-mode check 2019-11-05 19:55:45 +11:00
Peter Barker f177679e61 autotest: add more tests for mount behaviour 2019-11-05 19:55:45 +11:00
Matt Lawrence 8d2a624fcc Autotest: Refactor failsafe tests 2019-11-03 07:07:34 +08:00
Peter Barker ec9eaeab10 autotest: increase allowed time for receiving ack to compass-cal cmd 
Saw an instance of this timeout happening on the server
 2019-10-18 12:24:40 +11:00
Andy Piper f02d21811d Tools: autotest dynamic notches 2019-10-10 20:26:02 +09:00
Peter Barker c5f52a8355 Tools: autotest: tests for new fence code 
Tools: autotest: move clear_mission up, use it before running each test

Also have it understand MAV_MISSION_TYPE_ALL

Tools: autotest: add tests for polyfence

Tools: autotest: add tests for multiple inclusion polyfences

Tools: autotest: ensure we can't arm inside a circle exclusion zone

Tools: autotest: add test for arming outside an inclusion zone

Tools: autotest: add tests for upload timeout

Tools: autotest: add tests for not arming due to polygon zones

Tools: autotest: add test for fence point reboot survivability

Tools: autotest: add test for moving fence point

Tools: autotest: add some tests via MAVProxy

Tools: autotest: add test for avoiding polygonal exclusion zones

Tools: autotest: add test for object avoidance

Currently disabled as it doesn't pass where it seemingly should.

Tools: autotest: skip MAVProxy tests on older MAVProxy versions

Tools: autotest: adjust fence loading for lack of string back from MAVProxy

Tools: autotest: create a do_RTL function

Tools: autotest: cope with loading QGC-style fence files

Tools: autotest: add test for object-avoidance in guided mode

Tools: autotest: add OA test for auto mode

Tools: autotest: add test for bendy ruler in guided mode

Tools: autotest: adjust for new MAVProxy fence module not emitting old strings

Tools: autotest: add tests for prearming due to bad parameter values
 2019-09-28 07:58:48 +09:00
Peter Barker a386048be7 Tools: autotest: add two basic tests for radio failsafe 2019-09-26 15:19:10 +10:00
Peter Barker 642935fd43 Tools: random Python cleanups based on lgtm analysis 2019-09-21 22:26:03 +10:00
Peter Barker de3c9340cb Tools: autotest: correct timeout on heli spline mission 2019-09-19 22:39:10 +10:00
Peter Barker 1a7284ca73 Tools: autotest: add test for spline-as-last-waypoint 2019-09-17 09:05:23 +09:00
Peter Barker 36ba3a6e4c Tools: autotest: add test for follow mode 2019-09-16 12:00:11 +10:00
Peter Barker 479b2c5e11 Tools: autotest: allow nav-delay-abstime to delay arbitrary time 2019-08-21 16:08:24 +10:00
Peter Barker bf0a947317 Tools: autotest: improve test diagnostics 2019-08-08 08:35:52 +10:00
Peter Barker acf6cb8d75 Tools: autotest: rename clear_mission to clear_mission_using_mavproxy 2019-08-06 17:05:57 +10:00
Peter Barker bca35ac469 Tools: autotest: stop trying to arm Heli in throw mode 2019-08-06 17:05:41 +10:00
Peter Barker 12b9928a56 Tools: autotest: break out a load_fence function 2019-08-05 16:37:08 +10:00
Andrew Tridgell cee7cce1ca autotest: update vision position test for new msg 2019-08-05 13:58:08 +10:00
Pierre Kancir 12cb09a3f4 Tools: factorize sitl rangefinder setup 2019-07-11 11:52:44 +10:00
Pierre Kancir daaf769055 Tools: add arm/disarm testing on all modes 2019-07-11 11:42:45 +10:00
Pierre Kancir 9850d1afec Tools: update with flake8 
W605 invalid escape sequence '\s'
F402 import 'time' from line 10 shadowed by loop variable
E101 indentation contains mixed spaces and tabs
E703 statement ends with a semicolon
 2019-07-09 12:46:39 +10:00
Peter Barker e36231d547 Tools: autotest: loosen distance check when looking for lower point 2019-07-01 20:08:35 +10:00
Peter Barker 89ef13d32e Tools: autotest: reference issue in disabled beacon test 2019-07-01 12:12:43 +10:00
Peter Barker 5b14be92e6 Tools: autotest: change beacon test to use EKF3 2019-07-01 07:20:58 +09:00
Peter Barker b22fccd35d Tools: autotest: add test for beacon navigation 2019-07-01 07:20:58 +09:00
Peter Barker 6442dd1f2f Tools: autotest: make vision position test more reliable 2019-06-29 10:49:20 +10:00
Peter Barker 1827d88f9a Tools: autotest: use set_parameter for setting glitch offsets 
This state was persistent across tests, which wasn't helping for
consistency.
 2019-06-21 13:50:55 +10:00
Peter Barker 98cb68157f Tools: autotest: add a test for Copter surface tracking 2019-06-21 13:50:55 +10:00
Peter Barker 326e208123 Tools: autotest: allow switch to debounce in aux-switch test 2019-06-14 10:40:52 +10:00
Peter Barker 23f5fabbcf Tools: autotest: add tests for aux-switch options for mission reset and clear 2019-06-13 19:37:32 +10:00
Peter Barker 10120cee54 Tools: autotest: disable horizontal fence avoidance test showing bugs 2019-06-07 15:26:39 +10:00
Peter Barker 6e13adb43c Tools: autotest: add test for fence Avoidance 2019-06-07 15:26:39 +10:00
Peter Barker 9ee0befb38 Tools: autotest: Copter: add avoidance test for beacon fence 2019-06-04 09:06:07 +09:00
Peter Barker 3008fe6eb5 Tools: autotest: Copter: add test for fence avoidance sliding 2019-06-04 09:06:07 +09:00
Peter Barker acdddb8b1f Copter: autotest: Copter: add test for proximity boundary avoidance 2019-06-04 09:06:07 +09:00
Peter Barker 18391d8a9a Tools: autotest: produce stacktraces under Python3 2019-05-02 13:15:37 +10:00
Peter Barker 68769e24c1 Tools: autotest: add timeout for problematic spline test 2019-04-29 10:02:09 +10:00
Peter Barker b207c2607e Tools: autotest: correct spline waypoint arming sequence 2019-04-25 13:05:46 +10:00
Peter Barker 27f642014c Tools: autotest: add test for Copter onboard mag calibration 2019-04-23 10:06:17 +10:00
CAO MUQING 07747c5c09 Tools: autotest: add and update zigzag flight mode test for copter 
Tools: autotest: add copter zigzag mode

Tools: autotest: update copter zigzag flight test
 2019-04-19 07:51:49 +09:00
Peter Barker 18ed422a97 Tools: autotest: add test for flying spline waypoints 2019-04-16 21:41:58 +10:00
Peter Barker 119c5fe835 Tools: autotest: do not navigate to 0,0,0 
This falls afould of the uninitialised-location check
 2019-04-10 11:24:55 +10:00
Peter Barker 601504e685 Tools: autotest: ensure RNFD messages emitted 2019-04-09 22:17:58 +10:00
Peter Barker 7034ef2df7 Tools: autotest: raise throttle in loiter mode 
This avoids the vehicle hitting the ground while we're looking for
messages.
 2019-04-09 19:30:41 +10:00
Peter Barker 92970cf4ed Tools: autotest: add test for Copter poshold user takeoff 2019-04-09 08:15:39 +10:00
Peter Barker 83f6bed1dc Tools: autotest: add test for taking off in poshold in heli 2019-04-08 15:31:41 +10:00
Randy Mackay 0daed8c793 Tools: update autotest to use FLOW_TYPE 2019-04-08 11:26:59 +09:00
Rajat Singhal a87d388a6c Tools: autotest: Added tests for checking POSITION_TARGET messages for Copter 
Tools: autotest: Added timeout, mavutil const in test_guided_local_target()

Tools: autotest: Corrected mesage checking in test_guided_local_target()

Tools: autotest: Fixed comments in test_guided_local_target()

Tools: autotest: Added test for checking whether correct local target is
received by Copter

Tools: autotest: added error tolerance, divided check into xyz components

Tools: autotest: Added test for correct local velocity target for Copter

Tools: autotest: Added test for checking if POSITION_TARGET_LOCAL messages are sent only in Guided Mode for Copter
 2019-04-05 21:04:10 +11:00
Andrew Tridgell 84d5d4c933 autotest: fixed precision landing test for copter 
make sure the target is away from the current location
 2019-04-05 15:13:30 +11:00
Peter Barker 696de42eea Tools: autotest: check we're seeing PL messages in the log during 
precland
 2019-04-04 11:54:58 +11:00
Peter Barker b1119589e7 Tools: autotest: move AVC test into Copter-specific block 2019-04-01 11:35:59 +11:00
Peter Barker 74e4a7047f Tools: autotest: add simple test for Copter flying with MANUAL_CONTROL 2019-03-27 16:12:10 +11:00
Peter Barker 9a16b40a73 Tools: autotest: rename get_rudder_channel to get_stick_arming_channel 
... as some of these aren't actually rudder inputs...
 2019-03-27 11:29:53 +11:00
Peter Barker 25e5243b63 Tools: autotest: include drift in Copter ManualThrottle tests 2019-03-26 20:57:15 +11:00
Peter Barker e155ddbeba Tools: autotest: add yaw test for motor fail test 2019-03-25 16:57:41 +11:00
Peter Barker f19b831bc3 Tools: autotest: add brake mode test 2019-03-24 10:32:26 +11:00
Peter Barker 16476332b2 Tools: autotest: fix no-gps switch-to-location test 2019-03-22 08:19:42 +11:00
Peter Barker 6bf600c587 Tools: autotest: cope with being unable to reboot while armed 2019-03-19 10:53:37 +11:00
Peter Barker 9ca2c9d692 Tools: autotest: python3 fixes 
Tools: autotest: use inbuilt zip on Python3
 2019-03-13 20:26:24 +11:00
Peter Barker 72aeb26e86 Tools: autotest: allow more time for gps-glitch-in-auto test to run 2019-03-13 16:03:30 +11:00
Peter Barker 3a6298db9b Tools: autotest: loosen maximum distance allowed on loiter-to-ne 2019-03-13 14:51:04 +11:00
Peter Barker d53f787a14 Tools: factor init up into parent class 
Tools: autotest: use speedup 8 for all suites

for reliability
 2019-03-13 08:20:20 +11:00
Peter Barker f7ecba1a36 Tools: autotest: shove resets shove-time to zero; eliminate race condition 2019-03-12 16:09:03 +11:00
Peter Barker e045f61473 Tools: autotest: add test for throw mode 2019-03-12 11:09:37 +11:00
Peter Barker b47b97a981 Tools: autotest: add test for QuadPlane controller pre-arm checks 2019-03-12 10:14:14 +11:00
Peter Barker b450355ff6 Tools: autotest: remove needless wrappers, initialisation etc around guided-submode test 
Also disable disarm delay due to autotest mavlink traffic issues
 2019-03-11 16:19:30 +11:00
Peter Barker 28e27b4120 Tools: autotest: improve test reliability 
Also remove redundant reset code

Tools: autotest: drain mav and all pexexpects before running each test

Tools: autotest: increase some timeouts for failures when running under GDB

Tools: autotest: correct ordering of operations in mount test
 2019-03-11 13:59:51 +11:00
Peter Barker 9f80e5b5f5 Tools: autotest: fix horizontal fence test 
We do not receive position updates fast enough to reliably detect the
vehicle to be within 10m of home, so increase that radius
 2019-03-11 11:25:04 +11:00
Peter Barker c5c67362fa Tools: autotest: do not test Copter for loiter-requires-position 2019-03-11 11:03:03 +11:00
Peter Barker d48eab893a Tools: autotest: stop swallowing critical messages with get_sim_time() 2019-03-10 21:55:51 +11:00
Peter Barker 01440f2587 Tools: autotest: increase debug on precland 2019-03-10 20:09:27 +11:00
Peter Barker a504f9ac8d Tools: autotest: add option to use cached home for distance_to_home 2019-03-09 12:44:06 +11:00
Peter Barker 529903622d Tools: autotest: reduce output lines in NavDelay test 
Also remove pointless (unclosed) contexts and try blocks
 2019-03-09 10:03:10 +11:00
Peter Barker 19f51813f2 Tools: autotest: include mavproxy output in all vehicle test log files 2019-03-08 23:21:27 +11:00
Peter Barker 194142b343 Tools: autotest: add simple test for fence prearms 2019-03-08 08:57:27 +09:00
Peter Barker 91436c5314 Tools: autotest: add test for high-throttle-at-mode-change 2019-03-07 11:33:20 +11:00
Peter Barker 0cdb1c9d1e Tools: autotest: remove redundant wait-ready-to arm output 2019-03-07 08:36:35 +11:00
Peter Barker e800ae21ed Tools: autotest: add simple test that althold works 2019-03-06 18:15:13 +11:00
Peter Barker d3b8504757 Tools: autotest: improve debug output 2019-03-06 15:59:32 +11:00
Peter Barker b40f03dfbe Tools: autotest: add test for Copter PID parameter checks 2019-03-06 10:36:32 +09:00
Pierre Kancir b45e2ed6ab Tools: correct log download for copter 2019-03-01 20:48:39 +11:00
Peter Barker d43bcf4649 Tools: autotest: add simple mode-requires-position test for Copter 2019-03-01 13:43:20 +09:00
Peter Barker 50687c9add Tools: autotest: ArmFeatures is common to all vehicles; use inheritted tests 2019-02-28 12:53:07 +11:00
Peter Barker 4d0ae8c371 Tools: autotest: add test for MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED 2019-02-26 14:09:21 +11:00
Peter Barker e9fc158c8a Tools: autotest: eliminate use of recv_match with condition 
We have functions for achieving this

Also, a lot of these places were missing timeouts, so any failure would
cause the entire suite to stop running
 2019-02-22 16:30:05 +11:00
Pierre Kancir 7e12f16be6 Tools: fix lambda test 2019-02-22 08:04:03 +11:00
Peter Barker c0394e9577 Tools: autotest: tidy handling of SITL start position 2019-02-16 19:14:48 +11:00
Peter Barker 025f007f96 Tools: autotest: simplify mission loading 2019-02-16 10:27:41 +11:00
Peter Barker a1aefaff27 Tools: autotest: add parachute tests 
Tools: autotest: add test for triggering parachute via mavlink

Tools: autotest: add Copter mission test for parachute release

Tools: autotest: add Plane test for parachute deployment in auto
 2019-02-13 09:25:27 +09:00
Peter Barker 6f1f98dc3c Tools: autotest: add assumption run_tests is only called once - remove hasInit 2019-02-09 11:31:17 +11:00
Pierre Kancir 8a7555bf56 Tools: autotest: fix up the arming tests 
Tools: unify arm function failure message

Tools: get autodisarm time from parameter for autodisarm test

Tools: disable autodisarm for arm/disarm tests.

Tools: fix interlock channel for heli

Tools: simplify arming_test sub exclusion

Tools: fix empty string in progress

Tools: add back arming test to plane

Tools: allow single test run on Sub

Tools: remove old comments on autotest common

Tools: add vehicle type getter function

Tools: make get_rudder_channel abstract method

Tools: common make get_disarm_delay abstract method

Tools: make set_autodisarm_delay abstract method

Tools: rename set_throttle_zero to zero_throttle and use it

Tools: common.py remove unnecessary exception

Tools: subclass vehicle type
 2019-02-09 10:04:57 +11:00
Peter Barker fe2f9f1f14 Tools: autotest: improve autotest output 2019-02-07 08:51:13 +11:00
Dmitri Ranfft 4e8f3a7a3a Autotest: renamed requested RangeFinder parameters to account for the new changes. 2019-02-04 11:08:52 +09:00
Peter Barker 1fcd7fac06 Tools: autotest: add test for flip mode 2019-02-04 11:07:28 +09:00
Peter Barker e23313e16b Tools: autotest: ensure RC input is at defaults before each test 2019-02-04 08:00:07 +11:00
Peter Barker fa37ad344b Tools: autotest: refactor setting of rc defaults 2019-02-04 08:00:07 +11:00
Peter Barker 2834fd8017 Tools: autotest: add test for channel override cancel 2019-02-01 11:48:01 +11:00
Peter Barker 44ff21479d Tools: autotest: add a test for RTL speed 2019-01-31 19:34:32 +09:00
Peter Barker b66f80f452 Tools: autotest: allow heli tests to be run individually 2019-01-16 21:36:13 +11:00
Peter Barker d0aaf34db5 Tools: autotest: add option to skip tests if they're annoying us in CI 2019-01-14 20:15:47 +11:00
Peter Barker ecb3cabf72 Tools: add flight test for rangefinder in Copter 2019-01-09 16:55:42 +11:00
Peter Barker 55f751a8f4 Tools: autotest: add some tests for Copter parachute functions 2019-01-09 13:16:03 +11:00
Peter Barker e93cff6e44 Tools: autotest: add test that rangefinder switch works 2019-01-08 12:39:40 +11:00
Peter Barker e6bfbe5f07 Tools: autotest: fix initial mode switch position race 
Solves a race condition where an initial setting of mode via mavlink
could be overwritten by the vehicle polling the RC channels and changing
mode based on the new positions.

This will require each vehicle to specify the mode expected without an
RC inputs present and the expected mode once the RC defaults have been
installed.  These two modes will need to be different to eliminate the
race condition.
 2018-12-27 15:15:59 +11:00
Peter Barker 69293f46f3 Tools: autotest: convert Heli to new tests framework 2018-12-18 10:06:09 +11:00
Peter Barker 3b57635ec9 Tools: autotest: convert Copter to new tests framework 2018-12-18 10:06:09 +11:00
Peter Barker a320a54f66 Tools: autotest: new wait_heartbeat raises exception if none received 2018-12-14 11:10:41 +11:00
Peter Barker ec288cd867 Tools: autotest: make reboot detection more reliable 2018-12-14 09:48:17 +11:00
Peter Barker f442a0a1b7 Tools: autotest: remove bad calls to progress 2018-12-11 12:04:24 +11:00
Peter Barker 723ad34dfb Tools: autotest: disable disarm_delay in case of rc getting stuck 2018-12-10 12:52:41 +09:00
Peter Barker 4ae8595da3 Tools: autotest: make fly_avc_test a little more self-contained 2018-12-06 10:02:03 +11:00
Peter Barker 88a003edd9 Tools: autotest: flake8 compliance 2018-11-24 08:30:02 +11:00
Peter Barker f84370bb04 Tools: autotest: consolidate mission-loading functions 
Also add sanity checks for mission loading

Tools: autotest: add missing import for arduplane.py
 2018-11-16 10:06:25 +11:00
Peter Barker 8b36565b6c Tools: autotest: disable terrain in optical flow test 
It is possible this is the cause of the unreliability of this test; the
rangefinder sees step-jumps in its readings.
 2018-11-16 09:02:15 +11:00
Peter Barker a75d678e7f Tools: autotest: add tests for precision loiter and landing 2018-11-15 19:03:01 +11:00
Peter Barker 1d2f8555c0 Tools: ardupilotwaf: adjust for new location of uploader.py 2018-11-15 09:55:14 +11:00
Andrew Tridgell 6b5088207b autotest: upload failed CI logs to autotest server 2018-11-10 21:23:02 +11:00
Peter Barker c0af0cfe70 Tools: autotest: improve debug on optical limits test 2018-11-09 15:50:07 +11:00
Peter Barker 4e82250055 Tools: autotest: add test for Copter loiter-to-alt 2018-10-30 17:50:46 +09:00
Peter Barker 432b1fda3a Tools: autotest: add tests for AP_Mount 2018-10-30 17:19:14 +11:00
Peter Barker 2157999307 Tools: autotest: add tests for gripper mission items 2018-10-30 15:37:18 +11:00
Peter Barker a66cc52573 Tools: autotest: provide description of exceptions in constructors 2018-10-19 08:52:44 +11:00
Andrew Tridgell de39318f6d autotest: increase GPS AUTO glitch timeout 
this was timing out in CI
 2018-10-17 13:56:06 +11:00
Peter Barker 14d2012f54 Tools: autotest: add test for ekf navigation speed limits 2018-10-09 10:47:38 +11:00
Pierre Kancir 3a29379d9e Tools: run test_arm_feature for heli 2018-10-03 20:10:13 +10:00
Pierre Kancir f441ab9f2a Tools: autotest: validate RTL if disarmed close to home 2018-10-03 17:45:54 +10:00
Pierre Kancir 598b487fef Tools: autotest: adjust start alt for throttle failsafe 2018-10-03 17:45:54 +10:00
Peter Barker e4738192dd Tools: autotest: clear mission before toggling it in with ch7 2018-10-03 17:45:54 +10:00
Peter Barker 38ae0765ff Tools: autotest: increase throttle in stabilize mode to account for pitching 2018-10-03 17:45:54 +10:00
Peter Barker a7042e3847 Tools: autotest: tweak output messages, loosen camera trigger timeout 2018-09-08 12:56:15 +10:00
Peter Barker a9621191d8 Tools: autotest: correct descent throttle in copter fence test 
1500 is sufficient that we may not descend.
 2018-09-05 10:42:33 +10:00
Pierre Kancir f6cc934678 Tools: pep8 corrections + correct variable shadowing 2018-08-27 17:08:47 +10:00
Pierre Kancir d5c4c32529 Tools: add gripper test for copter 2018-08-27 14:39:49 +10:00
cclauss da7fe1055a Tools: add missing import to arducopter.py 
Fixes undefined names on lines 1406 and 1408
 2018-08-27 11:40:47 +10:00
Pierre Kancir aedd5a9db2 Tools: make takeoff check if it need arming and auto arm 2018-08-25 09:29:24 +09:00
Pierre Kancir 92d06c354e Tools: rise nav_takeoff_delay_abstime delta to cope with rounding. 2018-08-25 09:28:36 +09:00
Pierre Kancir cc8aca1619 Tools: various fixes for Copter tests 
Tools: correct altitude check

Tools: correct tests syntax

Tools: add autotest syntax check on common

Tools: search for syntax mistake on autotest lambda

Tools: put copter in hover trottle to prevent crash

Tools: reboot after baterry failsafe test

Tools: copter takeoff wait_ready_to_arm before arming

Tools: arm copter after land on RTL

Tools: reset copter battery voltage after battery failsafe
 2018-08-21 20:41:09 +10:00
Peter Barker ac55fae1c1 Tools: autotest: add test for Copter delayed-takeoff-with-do-set-speed 2018-08-20 14:15:40 +09:00
Peter Barker 680f78869d Tools: autotest: tidy and fix nav-delay test 2018-08-16 13:33:56 +10:00
Pierre Kancir 303e40f578 Tools: arducopter.py: add tolerance to takeoff alt 2018-08-15 20:06:07 +10:00
Pierre Kancir 2f9f793ccf Tools: add arm and disarm tests 2018-08-15 16:38:20 +10:00
Pierre Kancir a8ea84a729 Tools: autotest: clean function arguments 2018-08-15 10:16:13 +10:00
Pierre Kancir 579d471e98 Tools: use set_parameter instead of mavproxy directly 2018-08-15 10:16:13 +10:00
Peter Barker eba8dee371 Tools: autotest: add test for delay-until-absolute-hour-minute-second 2018-08-08 08:41:22 +10:00
Peter Barker b8c0199853 Tools: autotest: add test for copter's NAV_DELAY function 2018-08-07 22:37:07 +10:00
Peter Barker af37e10126 Tools: autotest: factor out starting of our our mavlink connection 2018-08-04 10:07:22 +10:00
Pierre Kancir a262099d35 Tools: arducopter.py: set submode change as test 2018-08-03 08:57:50 +10:00
Pierre Kancir a930822d9d Tools: unify exception on os.link 2018-08-03 08:40:33 +10:00
Pierre Kancir d507805891 Tools: move guided_achieve_heading to common 2018-08-01 16:33:55 +10:00
Pierre Kancir facc254138 Tools: move run_cmd to common 2018-08-01 16:33:04 +10:00
Peter Barker b8030816b8 Tools: autotest: add tests for mode changes for Copter and Rover 2018-08-01 12:11:30 +09:00
Michael du Breuil 90216f7cb6 Tools: Slow rover test down for CI, remove unneeded variable 2018-08-01 09:19:20 +10:00
Peter Barker baf869f8d6 Tools: autotest: add test for autotune 2018-07-31 13:37:43 +09:00
Peter Barker 20c1c4c684 Tools: autotest: add test for guided changing submode after takeoff 2018-07-31 10:40:57 +10:00
Peter Barker 56a4cd43d4 Tools: autotest:eliminate parameter restore using contexts 2018-07-31 10:40:57 +10:00
Peter Barker 6dd8dbeb40 Tools: autotest: add ability to add breakpoints in autotest 2018-07-27 09:58:15 +10:00
Pierre Kancir 6c43ab27c1 Tools: remove trailling semilocons 2018-07-12 21:13:02 +10:00
Peter Barker 38898dc793 Tools: autotest: add test for vision position estimate 2018-06-30 10:11:10 +10:00
Peter Barker 975b8c2e5f Tools: autotest: use reboot to apply parameter changes; avoid sim restart 
Previously we stopped the simulation to ensure parameter changes are
applied to the simulated vehicle.  We can now reboot the simulated
autopilot, so these patches make use of those changes.

One big advantage is that the --gdb option is in play for the applying
of the parameters to the vehicle.
 2018-06-29 10:54:27 +10:00
Peter Barker 0b8b23baf6 Tools: adjust tests for vfr_hud getting absolute altitude 2018-06-05 09:38:20 +10:00
Peter Barker 23a2ea4084 Tools: autotest: set rc to 1500 on RTL 2018-05-15 20:06:05 +09:00
Guilherme Sousa dab3b93dc3 autotest: Improved motor failure test 
This is based on https://github.com/ArduPilot/ardupilot/pull/6028 by
GuilhermeGSousa
 2018-05-15 20:06:05 +09:00
Peter Barker f3d6d8e236 Tools: autotest: make Copter tests more reliable 
RTL may disarm the vehicle on completion.  We RTL at several times in
the testing, and the subsequent tests were not rearming.  This means we
had a race condition.

We now explicitly wait to be disarmed by the RTL mode, and rearm the
vehicle.

This is an interim patch until we decide whether to make each "test"
self-contained, and have a precondition of "on ground and disarmed".
 2018-05-11 08:07:21 +09:00
Peter Barker 58f4b4b65d Tools: autotest: correct copter auto mission test 2018-05-09 14:23:51 +10:00
Peter Barker 513865ae4d Tools: autotest: flake8 compliance 2018-05-09 14:23:51 +10:00
Karthik Desai 40cd0cd17f Tools: autotest: Use the generic run_test. 
If any of the tests throws an exception, it will be caught by the generic test function
that collects all errors and displays them before passing the result to the vehicle testcode.
Hence the name of the test and the exception that got raised get printed in a single
location. This nicely reduces code duplication.
 2018-05-09 14:23:45 +10:00
Karthik Desai 75ae59c0c8 Autotest: Remove frame initialisation. 
This will otherwise override the --frame parameter. The init() function takes care of the initialisation
 2018-04-17 23:00:04 +10:00
Michael du Breuil 69cf009898 AutoTest: Update copter battery failsafe test 2018-03-27 22:12:21 +01:00
Karthik Desai 9de1813ae6 Autotest: Fix a race condition on the regression tests on Windows 2018-03-23 09:13:37 +09:00
Peter Barker 8511c2c04b Tools: autotest: factor out apply_parameters_using_sitl 
Three of our models start a SITL instance to apply parameters
then restart it so that the parameter changes can take effect.

Factor that functionality out.
 2018-03-20 08:39:12 +11:00
Peter Barker fe3b882bea Tools: autotest: move close method up to common.py 2018-03-20 08:39:12 +11:00
Peter Barker 31ba99e58a Tools: autotest: use buildlogs_path for all buildlogs 2018-03-20 08:39:12 +11:00
Peter Barker b2cb6e196c Tools: autotest: pull common MAVProxy options into common.py 2018-03-20 08:39:12 +11:00
Peter Barker b348cfa985 Tools: autotest: flake8 compliance 
Taking the opportunity to make massive changes while we're destroying
history anyway.
 2018-03-15 07:54:21 +09:00
Pierre Kancir 259dda810d Tools: use base class to share code between vehicle tests 
Autotest: common.py add new base class and test

Autotest : Common add heartbeat handling on wait_mode timeout

Autotest: common.py add reach_heading_manual and reach_distance_manual

Autotest: new autotest implementation for Rover

Autotest : rover add drive_square test

Autotest: new autotest implementation for Copter

Autotest: new autotest implementation for Plane

Autotest: new autotest implementation for Sub

Autotest: new autotest implementation

Autotest: new autotest implementation for QuadPlane

Autotest : Sub disable GCS_Failsafe on autotest to prevent timeout. The failsafe aren't currently tested on Sub
 2018-03-15 07:54:21 +09:00
Peter Barker aeb99c675b Tools: autotest: remove racey mavproxy.expect 
The autopilot could well have emitted the statustext before we
start to expect() it
 2018-02-13 17:15:05 +11:00
Peter Barker 8c516fb29c Tools: autotest: add max-alt fence 2017-12-13 10:04:50 +09:00
khancyr fac89ed437 Tools: autotest: move common functionality to common.py 
Tools: don't need to pass option on first mavproxy

Tools: reformat common.py and add commun function

Tools: use new common functions

Tools: move functions from rover to commun and reorder

Tools: add and use set_rc function with timeout

Tools: fix style for pep8
 2017-12-02 22:28:22 +11:00
Dr.-Ing. Amilcar Do Carmo Lucas 5c07a44a6d Tools: Fix a race condition on the regression tests on Windows 
Added \r\n to the expect() string as recomended at:
http://pexpect.readthedocs.io/en/stable/overview.html#find-the-end-of-line-cr-lf-conventions
this should work on both windows and linux systems

pexpect says it will always do a minimal (non greedy) matching and docs explicitly say that a .+ expression will always return only one character. These lines in autotest are looking for \S+, which, believing the documentation, would only return one character of the log file path.
Now we know that's not true, neither for Linux or for Windows (given the logs from @karthikdesai), so I can only assume that it does a greedy match but only for the characters it has received at the time expect is called.
Apparently, in the machines we are using autotest, it isn't a problem since MAVProxy is likely fast to give its output to pexpect before the expect method is called. On @karthikdesai's machine that wasn't happening since his machine was more or less loaded.
Concluding, this looks like a correct fix in the sense that it extends the regex pattern to wait for the end of line (and probably other places could benefit from it too).
 2017-11-22 17:01:05 +09:00
Peter Barker 2f76f83ab7 Tools: autotest: add and use progress function 
Based on work done by khancir
(https://github.com/ArduPilot/ardupilot/pull/6360)

Tools: arduplane.py change print to progress function
Tools: quadplane.py change print to progress function
Tools: ardusub.py change print to progress function
 2017-11-14 16:02:05 +11:00
Pierre Kancir 76bb081d60 Tools: autotest: add python headers to scripts 
Tools: arduplane.py add python header

Tools: apmrover2.py add python header

Tools: arducopter.py add python header

Tools: ardusub.py add python header

Tools: quadplane.py add python header
 2017-11-14 14:47:32 +11:00
Andrew Tridgell 776355ef2b autotest: fixed heli test 
need to wait for motor runup
 2017-09-27 20:54:21 +10:00
Peter Barker 78a0298af0 Tools: autotest.py: look at EKF flags to determine armability 2017-09-15 15:57:11 +01:00
Peter Barker 1b7122d733 Tools: add a --speedup parameter to autotest to control speed of all sims 2017-08-29 22:49:40 +01:00
Peter Barker 0334cc1c88 Tools: correct copter's fly_throttle_failsafe failure case 2017-08-26 09:36:09 +10:00
Miguel Arroyo 38297c4d19 Tools: Adds GDBServer with screen option for debugging 2017-08-24 21:37:06 +10:00
Peter Barker 2437260f8a Tools: copter horizontal fence test waits for disarm then rearms 2017-08-04 17:44:43 +01:00
Peter Barker dd09bb338e Tools: wait for vehicle to disarm after handling throttle failsafe 2017-08-04 17:44:43 +01:00
Peter Barker 791b1f43e9 Tools: allow heli autotest to use different frame 2017-07-05 17:34:09 +01:00
Peter Barker 59647b3434 Tools: autotest: correct Copter params file handling 2017-07-05 17:29:55 +01:00
Peter Barker 2ddf7f99b5 Tools: autotest: option to run different frame 2017-05-26 16:53:07 +09:00
Peter Barker 817efe9b6d Tools: expect message for EKF readiness rather than sleeping 
This solves a problem for me when running Valgrind as
30s was not sufficient
 2017-01-26 16:53:13 +11:00
Pierre Kancir bec09b9a57 autotest: python3 support 2016-11-09 11:48:22 -03:00
Pierre Kancir 5786d66ea1 autotest: simplify start_sitl 2016-11-09 11:48:22 -03:00
Randy Mackay 31b5941c45 SITL: revert increase speed of yaw in copter sitl 
ACRO_Y_EXPO's default has been set to zero so we need to revert the
change to the yaw input in the SITL autotest
 2016-11-07 10:34:33 +09:00
Randy Mackay 964ddfb0d2 SITL: increase speed of yaw in copter sitl 
This should resolve the SITL failures caused by the recent change to add
yaw expo to all manual flight modes
 2016-10-27 10:44:44 +09:00
Andrew Tridgell fcc89a2577 autotest: fixed RC_CHANNELS_RAW -> RC_CHANNELS 2016-10-14 11:40:23 +11:00
Peter Barker 068c310ed5 Tools: remove hard-coded FRAME global, specify same via parameter 2016-10-10 11:09:47 +11:00
Pierre Kancir 9e1ffcae5d Tools: update python coding style 
Tools: update PrintVersion.py coding style

autotest: update python coding style

pysim: update python coding style

jsb_sim: update Python coding style

param_metadata: update Python coding style
 2016-09-01 13:05:11 +10:00
Lucas De Marchi f0590581e4 autotest: standardize name of param files 
Try to make the various param files to follow similar namings:

    - Lowercase the few ones using uppercase
    - Use dash to separate name components
    - Start with "copter", "plane", "rover", etc instead of the mix we
      had
    - Remove "params" from the filename since it's redundant with the
      extension
 2016-08-08 10:12:14 -03:00
Pierre Kancir 19d94737a0 autotest: move all default params to default_params directory 2016-08-03 17:44:37 -03:00
Pierre Kancir 07eb170b39 Autotest: correct mavproxy unloaded map error 2016-08-01 10:37:15 -03:00
priseborough 18c4327a2a autotest: reduce copter test run time 
Signed-off-by: priseborough <p_riseborough@live.com.au>
 2016-07-19 12:16:50 +10:00
priseborough e0d87bf529 autotest: Increase startup wait time to allow EKF and GPS checks to pass 2016-07-19 12:16:48 +10:00
Peter Barker b23f983459 autotest: add --gdb option to autotest.py 2016-06-27 18:14:55 -03:00
Randy Mackay a7422153cb SITL: disable avoidance so we can trigger fence failsafe 2016-06-22 11:38:15 +09:00
Randy Mackay ed90d00fff SITL: throttle to 50 percent now that hover throttle automatically updates 2016-06-18 11:55:49 +09:00
Andrew Tridgell 084a37d4fa autotest: enable LOG_REPLAY and LOG_DISARMED in autotest 
this will give us the ability to analyse any EKF errors
 2016-05-27 21:23:39 +10:00
Peter Barker 480e142cfb autotest.py: remove TARGET no longer required 2016-05-27 08:07:07 -03:00
Peter Barker 3548f90d3a autotest: create SIL object to hold valgrind logpath 2016-05-27 08:07:07 -03:00
Peter Barker 7b86a05722 Tools: convert autotest build.X and fly.X to use waf build system 2016-05-27 08:07:07 -03:00
Glody Guo cda21a3d78 Fix argument 'valgrind' issue about fly.CopterAVC test 
Commit 8774f15 causes fly.CopterAVC test failure.
Here is the failure info below:
>>>> FAILED STEP: fly.CopterAVC at Tue May 17 13:21:56 2016 (fly_CopterAVC() got an unexpected keyword argument 'valgrind')
Traceback (most recent call last):
  File "./Tools/autotest/autotest.py", line 406, in run_tests
    if not run_step(step):
  File "./Tools/autotest/autotest.py", line 232, in run_step
    return arducopter.fly_CopterAVC(viewerip=opts.viewerip, map=opts.map, valgrind=opts.valgrind)
TypeError: fly_CopterAVC() got an unexpected keyword argument 'valgrind'
('check step: ', 'fly.CopterAVC')
FAILED 1 tests: ['fly.CopterAVC']

Here is the commit info below:
commit 8774f15b9a
Author: Peter Barker <pbarker@barker.dropbear.id.au>
Date:   Mon Apr 11 18:05:39 2016 +1000

    Tools: add valgrind option to autotest.py

:040000 040000 a111bc5b18 609503f3b1 M      Tools
 2016-05-17 21:36:57 +10:00
Francisco Ferreira ae5fdc2fde autotest: if auto mission fails, land the copter 2016-05-13 19:06:00 +09:00
Francisco Ferreira c873524966 autotest: change wait_waypoint mode check 
If we change mode while waiting for waypoints then we are no longer running the mission and should fail
 2016-05-13 19:05:57 +09:00
Peter Barker 8774f15b9a Tools: add valgrind option to autotest.py 2016-04-22 09:42:33 +10:00
Randy Mackay a5de231a21 SITL: ease gps_glitch_auto_test 
shortened glitch duration
extended timeout in gps_glitch_auto_test
 2016-04-21 14:52:31 +09:00